title: Underactuated comanipulation for ultrasound breast exams.
abstract: We investigate the possibility of providing adequate task assistance using under-actuated robots for human-robot tool co-manipulation. This novel approach optimizes robot-user synergy without taking into account any a priori knowledge of parameters depending on the user. Six different actuation modes were compared for a localization and scanning task. The best performance gain was achieved for 1 degree of under-actuation.
authors.forename: Anja
authors.initials: A
authors.lastname: Marx
authors.forename: Marie-Aude
authors.initials: MA
authors.lastname: Vitrani
authors.forename: Serge
authors.initials: S
authors.lastname: Muller
authors.forename: Guillaume
authors.initials: G
authors.lastname: Morel
mesh_terms: D001940:Breast / Q000473:pathology*; D001943:Breast Neoplasms / Q000175:diagnosis / Q000000981:diagnostic imaging*; D004867:Equipment Design; D005260:Female; D006801:Humans; D007091:Image Processing, Computer-Assisted / Q000295:instrumentation* / Q000379:methods*; D021621:Imaging, Three-Dimensional; D008327:Mammography / Q000379:methods; D019047:Phantoms, Imaging; D012371:Robotics; D014465:Ultrasonics / Q000295:instrumentation*; D016217:Ultrasonography, Mammary / Q000379:methods*